An assistance apparatus includes: a body brace； an output link to be put on an assistance subject body part, the output link pivoting about a joint in the assistance subject body part； an actuator including an output shaft that generates an assistance torque； a torque detection section provided at any position on the way from the output link to the output shaft (of the actuator)； torque determination section for determining a combined torque that is a combination of a subject person torque input from the output link as a result of a subject person making the assistance subject body part pivot with the subject person's own strength and the assistance torque from the output shaft； and a controller that controls a rotational angle of the output shaft based on the combined torque.
